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# Copyright (c) 2021 ETH Zurich, Nikita Rudin

from wheel_legged_gym import WHEEL_LEGGED_GYM_ROOT_DIR, WHEEL_LEGGED_GYM_ENVS_DIR
from .base.legged_robot import LeggedRobot
from .wheel_legged.wheel_legged_config import WheelLeggedCfg, WheelLeggedCfgPPO
from .wheel_legged_vmc.wheel_legged_vmc import LeggedRobotVMC
from .wheel_legged_vmc.wheel_legged_vmc_config import (
    WheelLeggedVMCCfg,
    WheelLeggedVMCCfgPPO,
)
from .wheel_legged_vmc_flat.wheel_legged_vmc_flat_config import (
    WheelLeggedVMCFlatCfg,
    WheelLeggedVMCFlatCfgPPO,
)


import os

from wheel_legged_gym.utils.task_registry import task_registry

task_registry.register(
    "wheel_legged", LeggedRobot, WheelLeggedCfg(), WheelLeggedCfgPPO()
)
task_registry.register(
    "wheel_legged_vmc", LeggedRobotVMC, WheelLeggedVMCCfg(), WheelLeggedVMCCfgPPO()
)
task_registry.register(
    "wheel_legged_vmc_flat",
    LeggedRobotVMC,
    WheelLeggedVMCFlatCfg(),
    WheelLeggedVMCFlatCfgPPO(),
)
